JP6892527B2 - Vehicle control device and vehicle control method - Google Patents

Description

The present invention relates to a vehicle control device and a vehicle control method that automatically or at least partially automatically control the running of the own vehicle.

Japanese Unexamined Patent Publication No. 2016-218650 discloses a merging determination device that determines that there is a lane merge in front of the own vehicle when the predicted locus of the own vehicle and the traveling locus of an adjacent vehicle intersect. There is.

In order to control traffic congestion on the highway, a merging signal (ramp meter) is installed in front of the acceleration lane, and a method called ramp metering may be used to limit the number of vehicles flowing into the main lane. In the technique described in JP-A-2016-218650, there is no disclosure about the support control at the merging point where the merging signal is installed, and the support control is performed at the merging point where the merging signal is installed. There was a problem that I couldn't do.

The present invention has been made to solve the above problems, to provide a vehicle control device and a vehicle control method capable of performing a support control that supports against the confluence of merging traffic is installed With the goal.

The vehicle control device according to the present invention is a device that automatically controls the running of the own vehicle at least partially, and is provided with a plurality of devices so that the detection directions with respect to the own vehicle are different, and a traffic light detection unit for detecting a traffic light. When there are a plurality of traffic light recognition units that recognize a traffic light for displaying a signal for traffic in the own lane in which the own vehicle is traveling and a plurality of recognition signals recognized by the traffic light recognition unit, one for the own vehicle. When the difference between the distance of the recognition signal and the distance of the other recognition signal to the own vehicle is less than the first predetermined distance, or the distance of the other recognition signal to one of the recognition signals is the second. When the distance is less than a predetermined distance, among the plurality of the proximity traffic lights, depending on the positional relationship between the proximity signal setting unit that sets one recognition signal and the other recognition signal as the proximity signal, and the own vehicle and the proximity signal. At least one is a attention signal setting unit that sets as a attention signal in the own vehicle, and a support control unit that performs at least acceleration / deceleration control of the own vehicle according to the signal displayed by the attention signal. have a, the support control unit, in response to said distance between the vehicle and the proximity signals, selects the traffic signal detecting unit, the signal which the signal of interest machine the traffic signal detecting unit selected is detected is displayed At least the acceleration / deceleration control of the own vehicle is performed according to the above . Thus, the vehicle control device can perform the corresponding support control over the confluence of merging traffic is installed. Further, the support control unit can perform acceleration / deceleration control of the own vehicle based on the information of the traffic light detection unit having high detection accuracy of the signal displayed by the traffic light of interest.

Further, in the vehicle control device, the attention signal setting unit determines the positional relationship between the own vehicle and the proximity signal, the distance between the own vehicle and the proximity signal, or the proximity between the own vehicle and the proximity signal. It may be set according to the distance to an accessory installed together with the traffic light or the shape of the display unit of the proximity traffic light. As a result, the vehicle control device can set the proximity signal that makes it easy to discriminate the display of the signal from the own vehicle as the attention signal, out of the two proximity signals.

Further, the vehicle control device determines the presence or absence of an adjacent lane by detecting an adjacent lane adjacent to the own lane or detecting an adjacent vehicle traveling in the same direction adjacent to the own vehicle. The signal recognition unit has an adjacent lane determination unit that displays a signal for traffic in the own lane and a signal for traffic in the adjacent lane when there is the adjacent lane. The signal that distinguishes from the signal and displays a signal for traffic in the own lane may be recognized as the recognition signal. As a result, the support control unit can perform acceleration / deceleration control of the own vehicle based on the signal displayed by the traffic light that displays the signal for the traffic in the own lane.

Further, in the vehicle control device, when the preceding vehicle of the own vehicle accelerates, the support control unit uses the own vehicle until the own vehicle crosses the stop line corresponding to the recognition signal. You may limit the acceleration of. When the recognition signal is a merging signal, the time for displaying a signal indicating that the recognition signal can proceed is shorter than that of a signal installed at an intersection or the like. The vehicle control device can suppress sudden braking of the own vehicle and prevention of the own vehicle crossing the stop line for a traffic light for which a signal indicating that the vehicle can proceed is displayed for a short time.

Further, in the vehicle control device, when the own vehicle is stopped at a position before the stop line corresponding to the recognition signal, the support control unit must stop the signal of the recognition signal. When the signal indicating that the vehicle must be displayed is continuously displayed for the first predetermined time or longer, the vehicle is controlled to repeatedly run and stop so that the vehicle approaches the stop line corresponding to the recognition signal. You may. As a result, when the merging signal is a sensitive signal, the support control unit can make the sensor of the signal detect the own vehicle by moving the own vehicle forward little by little.

Further, when the time for displaying the signal indicating that the recognition signal can travel is less than the second predetermined time, the vehicle control device joins the position of the own vehicle from the side road to the main line. It has a merging point recognition unit that recognizes that it is a merging point, and when the position of the own vehicle is the merging point, the proximity signal setting unit arranges the traffic at the merging point with the proximity signal. It may be set as a merging signal for displaying a signal for the purpose, and the attention signal setting unit may set at least one of the plurality of merging signals as a noteworthy signal in the own vehicle. As a result, the merging point recognition unit can recognize the merging point from the external situation even when the merging point information cannot be obtained from the map information or the like, and the proximity signal setting unit merges the proximity signal. It can be set as a traffic light.

Further, the vehicle control device recognizes that the position of the own vehicle is a merging point where the side road merges with the main line when there is no oncoming vehicle and the own lane is curved. The proximity signal setting unit has a recognition unit, and when the position of the own vehicle is the merging point, the proximity signal is used as a merging signal for displaying a signal for arranging traffic at the merging point. The attention signal setting unit may set at least one of the plurality of merged signals as the attention signal to be noted in the own vehicle. As a result, the merging point recognition unit can recognize the merging point from the external situation even when the merging point information cannot be obtained from the map information or the like, and the proximity signal setting unit merges the proximity signal. It can be set as a traffic light.

A vehicle control method that automatically controls the running of the own vehicle at least partially, and is a traffic light recognition step for recognizing a traffic light that displays a signal for traffic in the own lane in which the own vehicle is traveling, and a traffic light recognition step. When there are a plurality of recognition signals recognized by the above, the difference between the distance of one recognition signal to the own vehicle and the distance of the other recognition signal to the own vehicle is less than the first predetermined distance. When, or when the distance of the other recognition signal to one of the recognition signals is less than the second predetermined distance, a proximity signal setting step of setting one of the recognition signals and the other recognition signal as a proximity signal, and A attention signal setting step for setting at least one of the plurality of proximity signals as a attention signal in the own vehicle according to the positional relationship between the own vehicle and the proximity signal, and the attention signal displayed by the attention signal. depending on the signal, possess at least the the support control step of performing deceleration control of the vehicle, wherein the vehicle is a traffic detector for detecting said signals, the detection direction different with respect to each of the vehicle The support control step has a plurality of the signals, the signal detection unit is selected according to the distance between the own vehicle and the proximity signal, and the signal displayed by the attention signal detected by the selected signal detection unit. At least the acceleration / deceleration control of the own vehicle is performed according to the above . The vehicle control method for the vehicle, it is possible to perform assist control corresponding relative confluence of merging traffic is installed. Further, according to this vehicle control method, the support control step can perform acceleration / deceleration control of the own vehicle based on the information of the traffic light detection unit having high detection accuracy of the signal displayed by the traffic light of interest.

Further, in the above-mentioned vehicle control method, the attention signal setting step determines the positional relationship between the own vehicle and the proximity signal, the distance between the own vehicle and the proximity signal, or the proximity between the own vehicle and the proximity signal. It may be set according to the distance to an accessory installed together with the traffic light or the shape of the display unit of the proximity traffic light. According to this vehicle control method, in the attention signal setting step, of the two proximity signals, the proximity signal whose signal display can be easily discriminated from the own vehicle can be set as the attention signal.

Further, in the above-mentioned vehicle control method, the presence or absence of an adjacent lane is determined by detecting an adjacent lane adjacent to the own lane or detecting an adjacent vehicle traveling in the same direction adjacent to the own vehicle. The adjacent lane determination step includes the signal for displaying the signal for the traffic in the own lane and the signal for the traffic in the adjacent lane when the adjacent lane is present. The signal may be distinguished from the signal and the signal that displays a signal for traffic in the own lane may be recognized as the recognition signal. According to this vehicle control method, the support control step can perform acceleration / deceleration control of the own vehicle based on the signal displayed by the traffic light that displays the signal for the traffic in the own lane.

Further, in the above-mentioned vehicle control method, in the support control step, when the preceding vehicle of the own vehicle accelerates, the own vehicle continues until the own vehicle crosses the stop line corresponding to the recognition signal. You may limit the acceleration of. By this vehicle control method, the assist control step suppresses sudden braking of the own vehicle and prevention of the own vehicle from crossing the stop line for a traffic light for which a signal indicating that the vehicle can proceed is displayed for a short time. be able to.

Further, in the above-mentioned vehicle control method, in the support control step, when the own vehicle is stopped at a position before the stop line corresponding to the recognition signal, the signal of the recognition signal must be stopped. When the signal indicating that the vehicle must be displayed is continuously displayed for the first predetermined time or longer, the vehicle may be repeatedly driven and stopped so that the vehicle approaches the stop line corresponding to the recognition signal. Good. According to this vehicle control method, in the assist control step, when the merging signal is a sensitive signal, the sensor of the signal can detect the own vehicle by moving the own vehicle forward little by little.

Further, in the above-mentioned vehicle control method, when the time for displaying the signal indicating that the recognition signal can travel is less than the second predetermined time, the position of the own vehicle is changed from the side road to the main line. It has a merging point recognition step that recognizes that it is a merging point, and the proximity signal setting step uses the proximity signal to perform traffic at the merging point when the position of the own vehicle is the merging point. It may be set as a merging signal that displays signals for organizing, and at least one of the plurality of merging signals may be set as a noteworthy signal in the own vehicle in the attention signal setting step. By this vehicle control method, the merging point recognition step can recognize the merging point from an external situation even when the merging point information cannot be obtained from map information or the like, and the proximity signal setting step is close. The traffic light can be set to be a merging traffic light.

Further, in the above-mentioned vehicle control method, when there is no oncoming vehicle and the own lane is curved, the position of the own vehicle is recognized as a merging point where the side road joins the main line. The proximity signal setting step has a merging point recognition step, and when the position of the own vehicle is the merging point, the proximity signal displays a signal for arranging traffic at the merging point. It may be set as a traffic light, and in the attention signal setting step, at least one of the plurality of merged traffic lights may be set as a attention signal in the own vehicle. By this vehicle control method, the merging point recognition step can recognize the merging point from an external situation even when the merging point information cannot be obtained from map information or the like, and the proximity signal setting step is close. The traffic light can be set to be a merging traffic light.

According to the vehicle control apparatus and a vehicle control method of the present invention, it is possible to perform the corresponding support control over the confluence of merging traffic is installed.

It is a figure explaining lamp metering. It is a schematic diagram which shows the example of the merging signal. It is a block diagram which shows the structure of a vehicle control device. It is a functional block diagram of an arithmetic unit. It is a flowchart which shows the flow of the process of the merging support control performed in a vehicle control device. It is a flowchart which shows the flow of the process of the merging support control performed in a vehicle control device. It is a flowchart which shows the flow of the process of the merging support control of step S13. It is a flowchart which shows the flow of the process of the merging support control of step S16. It is a flowchart which shows the flow of the process of the merging support control of step S16.

[First Embodiment]
[About lamp metering]
In order to suppress traffic congestion on the expressway, a merging signal (ramp meter) 108 is installed in front of the acceleration lane 106, which is the merging point where the frontage road 102 of the expressway 100 merges with the main lane 104, and the merging signal (ramp meter) 108 is installed from the side road 102 to the main lane. A method called ramp metering may be used to limit the number of vehicles flowing into the 104.

The vehicle control device 10 of the present embodiment is a device that provides merging support to the driver of the own vehicle at the merging point of the expressway 100 in which the merging signal 108 is installed. FIG. 1 is a diagram illustrating lamp metering. The merging signal 108 is provided for each lane of the frontage road 102. The merging traffic light 108 alternately displays a red light and a green light, but most of the time the red light is displayed and the green light is displayed only for a few seconds. When the display of the merging traffic light 108 turns green, only one vehicle on the side road 102 is allowed to enter the acceleration lane 106. The time when the merging traffic light 108 is displaying the green light is shorter than the time when the traffic light installed at the intersection or the like is displaying the green light. Further, the cycle in which the merging traffic light 108 displays the red light and the green light is often shorter than the cycle in which the traffic light installed at the intersection or the like displays the red light and the green light.

FIG. 2 is a schematic view showing an example of the merging signal 108. The merging traffic light 108 is often composed of two traffic lights arranged one above the other. The distant traffic light 108a arranged above is a traffic light that displays a signal to the driver of a vehicle located distant from the merging traffic light 108. The display unit 110 that displays the signal of the distant traffic light 108a is provided so as to face substantially the front with respect to the vehicle traveling on the frontage road 102. In other words, the display unit 110 that displays the signal of the distant traffic light 108a is provided so that the direction of the display unit 110 is substantially parallel to the direction in which the frontage road 102 extends. The near signal 108b arranged below is a signal that displays a signal to the driver of the vehicle located near the merging signal 108. The display unit 110 that displays the signal of the near traffic light 108b is provided so as to face a slightly oblique direction with respect to the vehicle traveling on the frontage road 102. In other words, the display unit 110 that displays the signal of the near traffic light 108b is provided so that the direction of the display unit 110 is oblique to the direction in which the frontage road 102 extends.

The display of the distant signal 108a of the merging signal 108 and the display of the near signal 108b are the same. That is, when the distant traffic light 108a is displaying a red signal, the near traffic light 108b also displays a red signal, and when the distant traffic light 108a is displaying a green signal, the near traffic light 108b is also displaying a green signal. Is displayed. As for the merging signal 108, the far signal 108a and the near signal 108b are provided on the same column, for example, and both are installed close to each other.

[Vehicle control device configuration]
FIG. 3 is a block diagram showing the configuration of the vehicle control device 10. The vehicle control device 10 is incorporated in the vehicle and automatically or manually controls the operation of the vehicle. The "automatic driving" referred to in the present embodiment is a concept including not only "fully automatic driving" in which all vehicle driving control is automatically performed, but also "partially automatic driving" in which driving control is partially automatically performed.

The vehicle control device 10 is a control system device group 12 that controls the operation control of the vehicle, an input system device group 14 that is responsible for the input function of the control system device group 12, and an output system device that is responsible for the output function of the control system device group 12. It comprises a group 16.

<Configuration of input system device group>
The input system device group 14 acquires an outside world sensor 20 that detects the state of the surroundings (outside world) of the vehicle, a communication device 22 that transmits / receives information to / from various communication devices outside the vehicle, and map information indicating a high-precision map. The map information database 24, a navigation device 26 that generates a traveling route to a destination and measures the traveling position of the vehicle, and a vehicle sensor 28 that detects the state of the vehicle are included.

The outside world sensor 20 includes one or more cameras 30 that image the outside world, one or more radars 32 that detect the distance and relative velocity between the own vehicle and another object, and one or more LIDAR 34 (Light Detection and). Includes Ranging (Laser Imaging Detection and Ranging).

The camera 30 includes at least a front camera 36 that captures the front of the own vehicle and a front side camera 38 that captures the front side of the own vehicle. The camera 30 captures, for example, a traffic light in front of or to the side of the own vehicle. By analyzing the image of the traffic light captured by the camera 30, the distance between the own vehicle and the traffic light, the distance between the two traffic lights, the signal displayed by the traffic light (red signal, green signal, yellow signal or graphic signal), It is possible to obtain the time during which the traffic light is displaying each signal.

The communication device 22 includes a first communication device 40 that performs vehicle-to-vehicle communication between the own vehicle and another vehicle, and a second communication device 42 that performs road-to-vehicle communication between the own vehicle and the roadside device. .. The distance between the own vehicle and the traffic light, the distance between the two traffic lights, the signal displayed by the traffic light (red signal, green signal, yellow signal or graphic signal), the time when the traffic light displays each signal, etc. When the other vehicle or the roadside device has the information of the above, the first communication device 40 or the second communication device 42 may acquire the information.

The navigation device 26 includes a satellite navigation system and a self-contained navigation system. The vehicle sensor 28 includes various sensors for detecting the behavior of the vehicle, various sensors for detecting the operating state of the vehicle, various sensors for detecting the state of the driver, such as a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, and an inclination sensor. ..

<Configuration of output system device group>
The output system device group 16 includes a driving force output device 44, a steering device 46, a braking device 48, and a notification device 50.

The driving force output device 44 includes a driving force output ECU (electronic control unit) and a drive source such as an engine and a drive motor. The driving force output device 44 generates a driving force in response to an operation of the accelerator pedal performed by the driver or a drive control instruction output from the control system device group 12.

The steering device 46 includes an EPS (Electric Power Steering Systems) -ECU and an EPS actuator. The steering device 46 generates a steering force in response to an operation of the steering wheel performed by the driver or a steering control instruction output from the control system device group 12.

The braking device 48 includes a brake ECU and a brake actuator. The braking device 48 generates a braking force in response to the operation of the brake pedal performed by the driver or the control instruction of braking output from the control system device group 12.

The notification device 50 includes a notification ECU and an information transmission device (for example, a display device, an acoustic device, a tactile device, etc.). The notification device 50 notifies the driver (for example, providing information through the five senses including audiovisual) in response to a notification instruction output from the control system device group 12 or another ECU.

<Structure of control system device group>
The control system device group 12 is composed of one or a plurality of ECUs, and includes an arithmetic unit 52 such as a processor and a storage device 54 such as a ROM or RAM. The control system device group 12 realizes various functions by executing a program stored in the storage device 54 by the arithmetic unit 52.

FIG. 4 is a functional block diagram of the arithmetic unit 52. The arithmetic unit 52 is configured to be able to execute various functions of the outside world recognition unit 56, the own vehicle position recognition unit 58, the action plan creation unit 60, the track generation unit 62, the vehicle control unit 64, and the operation mode switching unit 66. ..

The outside world recognition unit 56 recognizes a situation and an object around the vehicle based on the information output from the outside world sensor 20. The outside world recognition unit 56 includes a traffic light recognition unit 68, another vehicle recognition unit 70, an adjacent lane determination unit 72, a proximity signal setting unit 74, a confluence point recognition unit 78, a attention signal setting unit 80, and an outside world state recognition unit 82. Is done.

The traffic light recognition unit 68 recognizes that there is a traffic light in front of the own vehicle based on the image information of the camera 30. The traffic light recognition unit 68 distinguishes between a traffic light that displays a signal for traffic in the own lane and a traffic light that displays a signal for traffic in an adjacent lane, and sets a traffic light that displays a signal for traffic in the own lane as a recognition signal. To do.

The other vehicle recognition unit 70 recognizes the existence, position, size, and type of another vehicle running or stopped around the own vehicle based on the information output from, for example, the camera 30, the radar 32, or the LIDAR 34. At the same time, the distance between the own vehicle and another vehicle and the relative speed are calculated.

When the other vehicle recognition unit 70 recognizes an adjacent vehicle traveling in the same direction as the own vehicle adjacent to the own vehicle, the adjacent lane determination unit 72 determines that there is an adjacent lane. Further, the adjacent lane determination unit 72 may directly determine whether or not there is an adjacent lane based on the information output from the camera 30, the radar 32, or the LIDAR 34.

The proximity signal setting unit 74 is, for example, a case where there are a plurality of recognition signals recognized by the signal recognition unit 68, for example, based on the information output from the camera 30, the radar 32, or the LIDAR 34, the proximity signal setting unit 74 of the plurality of recognition signals. When the distance between the two recognition traffic lights is less than the predetermined distance L1, the two recognition traffic lights are set as proximity traffic lights, respectively. Further, when the proximity signal setting unit 74 has a plurality of recognition signals recognized by the signal recognition unit 68 and the difference in distance between the own vehicle and the two recognition signals is less than a predetermined distance L2, the 2 Each of the two recognition signals may be set as a proximity signal.

As a result, when two traffic lights are installed close to each other as in the merging traffic light 108, the two traffic lights are set as proximity traffic lights, respectively. On the other hand, for example, on the own lane, two traffic lights are installed at a certain interval, such as a traffic light installed at an intersection on the front side of the vehicle and a traffic light installed at an intersection on the back side. If so, the two traffic lights are not set as proximity traffic lights.

The merging point recognition unit 78, for example, is in front of the own vehicle from the side road 102 of the expressway 100 based on the map information read from the map information database 24 and the traveling position information of the own vehicle input from the navigation device 26. Recognize that there is a confluence point that merges with the main line 104. Alternatively, the merging point recognition unit 78 merges in front of the own vehicle when there is no oncoming vehicle in front of the own vehicle and the own lane in front of the own vehicle is curved from the image information of the camera 30. You may recognize that there is a point. Alternatively, the merging point recognition unit 78 recognizes from the image information of the camera 30 that there is a merging point in front of the own vehicle when the time when the proximity traffic light is displaying the green light is less than T1 for a predetermined time. May be good. Alternatively, the merging point recognition unit 78 recognizes from the image information of the camera 30 that there is a merging point in front of the own vehicle when the period for displaying the red signal and the green signal by the proximity signal is less than the predetermined time T2. You may.

The attention signal setting unit 80 is among the two proximity signals when the distance between the own vehicle and the two proximity signals is a predetermined distance L3 or more based on the information output from the camera 30, the radar 32 or the LIDAR 34, for example. The upper traffic light is set as the attention signal, and when the distance between the own vehicle and the two proximity signals is less than the predetermined distance L3, the lower signal of the two proximity signals is set as the attention signal.

The attention signal setting unit 80 sets the attention signal according to the distance from an accessory (for example, a support column supporting the proximity signal, a stop line drawn on the road, etc.) associated with the proximity signal of the own vehicle. It may be.

Further, the attention signal setting unit 80 may set the attention signal according to the shape of the display unit of the proximity signal. When the proximity signal is a merging signal 108 as shown in FIG. 2, the shape of the display unit 110 of the near signal 108b approaches a perfect circle shape from an elliptical shape as the own vehicle approaches the merging signal 108. .. Alternatively, when the display of the display unit 110 of the near traffic light 108b is a figure such as an arrow, the shape of the display displayed on the display unit 110 of the near traffic light 108b is such that the own vehicle approaches the merging traffic light 108. It changes according to.

Regarding the shape of the display unit 110 of the near traffic light 108b and the shape of the figure displayed on the display unit 110 of the near traffic light 108b, the attention signal setting unit 80 is in a state where it is easy to recognize the display of the display unit 110 in advance. By storing a predetermined shape to be a predetermined shape and pattern-matching it with the image information of the camera 30, when the predetermined shape is obtained, the attention signal may be switched from the far signal 108a to the near signal 108b.

Based on, for example, the image information of the camera 30 or the map information read from the map information database 24, the external world state recognition unit 82 determines the overall road environment, for example, road shape, road width, lane mark position, number of lanes, It recognizes the lane width, the lighting state of the signal, the open / closed state of the breaker, etc.

The own vehicle position recognition unit 58 recognizes the absolute position of the vehicle or the relative position on the high-precision map (hereinafter, also referred to as the own vehicle position) based on the information output from the map information database 24 and the navigation device 26. ..

The action plan creation unit 60 creates an action plan (time series of events for each traveling section) according to the vehicle situation based on the recognition results of the outside world recognition unit 56 and the own vehicle position recognition unit 58, and if necessary. Update the contents of the action plan.

The track generation unit 62 generates a traveling track (time series of target behavior) according to the action plan created by the action plan creation unit 60 based on the recognition results of the outside world recognition unit 56 and the own vehicle position recognition unit 58.

The vehicle control unit 64 gives an operation instruction to the output system device group 16 (FIG. 3) based on the creation result of the action plan creation unit 60 or the generation result of the track generation unit 62. The vehicle control unit 64 includes a travel control unit 84 that performs driving control such as steering control and acceleration / deceleration control for the own vehicle, and a notification control unit 86 that performs notification control for the driver.

The operation mode switching unit 66 switches a plurality of operation modes including "automatic operation mode" and "manual operation mode" according to a predetermined action (for example, operation of an input device including a switch and a steering wheel) by the driver. It is configured to be possible. Hereinafter, the required action for the driver to shift from automatic driving to manual driving is also referred to as "Take Over Request (TOR)".

[Merge support control processing]
The processing of the merging support control at the merging point where the merging signal 108 is installed, which is performed in the vehicle control device 10 of the present embodiment, will be described. The merging support refers to driving support provided to the driver of the own vehicle when merging from the frontage road 102 to the main line 104 on the expressway 100 (FIG. 1). 5 and 6 are flowcharts showing a flow of processing of merging support control performed in the vehicle control device 10.

In step S1, the traffic light recognition unit 68 determines whether or not there is a traffic light in front of the own vehicle. If there is a traffic light in front of the own vehicle, the process proceeds to step S2, and if there is no traffic light in front of the own vehicle, the process ends. When the own vehicle is traveling on a curved road, the traffic light recognition unit 68 may determine whether or not there is a traffic light on the front side of the own vehicle. For a traffic light in which direction with respect to the own vehicle, whether or not the traffic light is present may be set according to the curvature of the curved road.

In step S2, the adjacent lane determination unit 72 determines whether or not the adjacent lane is recognized. If the adjacent lane determination unit 72 recognizes the adjacent lane, the process proceeds to step S3, and if the adjacent lane determination unit 72 does not recognize the adjacent lane, the process proceeds to step S4.

In step S3, the traffic light recognition unit 68 distinguishes the traffic light in front of the own vehicle from the traffic light in the adjacent lane, sets the traffic light in the own lane as the recognition signal, and proceeds to step S5. In step S4, the traffic light recognition unit 68 sets the traffic light in front of the own vehicle as the recognition signal, and proceeds to step S5.

In step S5, the traffic light recognition unit 68 determines whether or not there are a plurality of recognition signals. If there are a plurality of recognition signals, the process proceeds to step S6, and if there is only one recognition signal, the process ends.

In step S6, the proximity signal setting unit 74 determines whether or not two recognition signals among the plurality of recognition signals recognized by the signal recognition unit 68 are close to each other. The determination that the two recognition signals are close to each other is determined when the distance between the two recognition signals is less than the predetermined distance L1 as described above, or the difference in the distance between the own vehicle and the two recognition signals. Is less than a predetermined distance L2. If the two recognition signals are close to each other, the process proceeds to step S7, and if the two recognition signals are not close to each other, the process ends. In step S7, the proximity signal machine setting unit 74 sets the recognition traffic signal is determined to be close to the proximity signals, the process proceeds to step S8.

In step S8, the merging point recognition unit 78 determines whether or not there is a merging point in front of the own vehicle. If there is a merging point in front of the own vehicle, the process proceeds to step S9, and if there is no merging point in front of the own vehicle, the process ends.

In step S9, the proximity signal setting unit 74 sets the proximity signal to the merging signal 108, and proceeds to step S10. In step S10, the attention signal setting unit 80 determines whether or not the distance between the own vehicle and the proximity signal is a predetermined distance L3 or more. When the distance between the own vehicle and the proximity signal is a predetermined distance L3 or more, the process proceeds to step S11, and when the distance between the own vehicle and the proximity signal is less than the predetermined distance L3, the process proceeds to step S14.

In step S11, the attention signal setting unit 80 sets the signal (distant signal 108a) above the proximity signal as the attention signal, and proceeds to step S12. In step S12, the action plan creation unit 60 is set to perform merging support control according to the display of the attention signal obtained from the image information of the front camera 36, and proceeds to step S13. In step S13, the action plan creation unit 60 creates an action plan so that the travel control unit 84 performs merging support control on the own vehicle, and returns to step S10. The merging support control performed at this time will be described in detail later.

In step S14 after it is determined in step S10 that the distance of the own vehicle from the proximity signal is less than the predetermined distance L3, the attention signal setting unit 80 is the signal below the proximity signal (near signal 108b). ) Is set as the traffic light of interest, and the process proceeds to step S15. In step S15, the action plan creation unit 60 is set to perform merging support control according to the display of the attention signal obtained from the image information of the front side camera 38, and proceeds to step S16. In step S16, the action plan creation unit 60 creates an action plan so that the travel control unit 84 performs merging support control on the own vehicle, and ends the process. The merging support control performed at this time will be described in detail later.

In the flowchart of FIG. 5 and FIG. 6, in step S 6 ~ step S7, the after the proximity signal machine is set by the proximity traffic setting unit 74, in step S8,
The merging point recognition unit 78 determines whether or not there is a merging point in front of the own vehicle. The merging point recognition unit 78 determines whether or not there is a merging point in front of the own vehicle, and if it is determined that there is a merging point, the proximity signal setting unit 74 sets the proximity signal. You may do so. When the merging point recognition unit 78 determines that there is a merging point in front of the own vehicle, it is highly possible that the traffic light in front of the own vehicle is the merging signal 108. Only when the merging point recognition unit 78 determines that there is a merging point in front of the own vehicle, the proximity signal setting unit 74 sets the proximity signal, thereby suppressing the processing load of the arithmetic unit 52. can do.

FIG. 7 is a flowchart showing the processing flow of the merging support control in step S13. In step S21, the action plan creation unit 60 determines whether or not there is a preceding vehicle in front of the own vehicle from the information from the external world state recognition unit 82. If there is a preceding vehicle, the process proceeds to step S22, and if there is no preceding vehicle, the process proceeds to step S23.

In step S22, the action plan creation unit 60 creates an action plan so that the preceding vehicle follow-up control is performed on the own vehicle, and ends the process. In the preceding vehicle follow-up control, the traveling control unit 84 sets the inter-vehicle distance between the own vehicle and the preceding vehicle to be the inter-vehicle distance according to the vehicle speed so that the own vehicle follows the preceding vehicle and travels. The vehicle is controlled. At this time, when the preceding vehicle accelerates, the own vehicle is controlled so that the acceleration is limited to be less than a predetermined acceleration. In this case, it is considered that the display of the merging signal 108 in front of the preceding vehicle becomes a green light and the preceding vehicle starts. The time when the display of the merging traffic light 108 is a green light is shorter than the time when the display of the traffic light installed at an intersection or the like is a green light, and even if the display of the merging traffic light 108 becomes a green light, it immediately becomes a red light. By suppressing the acceleration of the own vehicle, it is possible to prevent the own vehicle from suddenly braking and the own vehicle from crossing the stop line.

In step S23, the action plan creation unit 60 creates an action plan so that lane keeping control is performed on the own vehicle, and ends the process. In the lane keeping control, the own vehicle is controlled by the traveling control unit 84 so that the own vehicle keeps the own lane and travels. In the lane keeping control, not only the own vehicle is controlled to maintain the own lane while traveling, but also the position of the preceding vehicle with respect to the width direction of the own lane, obstacles on the side of the own lane (for example, guardrail), etc. It is also possible to control the own vehicle to temporarily run out of the own lane in consideration of the position of.

8 and 9 are flowcharts showing a flow of processing of the merging support control in step S16. In step S31, the action plan creation unit 60 determines whether or not the own vehicle is stopped at the stop line based on the information from the external world state recognition unit 82. If the own vehicle is stopped at the stop line, the process proceeds to step S32, and if the own vehicle is not stopped at the stop line, the process proceeds to step S37.

In step S32, the action plan creation unit 60 determines whether or not the display of the attention signal is a green light based on the information from the external world state recognition unit 82. If the display of the traffic light of interest is a green light, the process proceeds to step S33, and if the traffic light of interest is a red light, the process proceeds to step S34.

In step S33, the action plan creation unit 60 creates an action plan so that the merging support control is performed for the own vehicle, and ends the process. In the merging support control, the traveling control unit 84 controls the own vehicle so that the own vehicle accelerates sufficiently in the acceleration lane 106 (FIG. 1) and merges with the lane adjacent to the acceleration lane 106 of the main lane 104 (FIG. 1). Will be done.

When the display of the traffic light of interest changes from a red light to a green light, the travel control unit 84 does not automatically start the own vehicle, but operates a GO / STOP button (not shown) provided inside the own vehicle. The own vehicle may be started when operated by a person. As a function of the GO / STOP button, when the GO / STOP button is pressed by the driver, the own vehicle may be started, or the GO / STOP button is released from the state of being pressed by the driver. At that time, the own vehicle may be started. As a result, it is possible to leave the decision as to whether or not to start the own vehicle to the driver, and it is possible to give the driver a sense of security when the own vehicle is started.

In step S34, the action plan creation unit 60 determines whether or not the state of the red light on the display of the attention signal continues for T3 or more for a predetermined time based on the information from the external world state recognition unit 82. If the red light state of the attention signal continues for a predetermined time T3 or more, the process proceeds to step S35, and if the red light state of the attention signal is less than the predetermined time T3, the process proceeds to step S36. To do.

In step S35, the action plan creation unit 60 creates an action plan so that the gradual forward control is performed on the own vehicle, and returns to step S32. In the gradual forward control, the own vehicle is controlled by the traveling control unit 84 so that the own vehicle travels a little and stops. This gradual forward control will be repeated until the display of the traffic light of interest turns green.

When the own vehicle approaches the stop line, the camera 30 may not be able to capture the stop line. In this case, the external world state recognition unit 82 cannot recognize the position of the stop line from the image information of the camera 30. Therefore, the external world state recognition unit 82 estimates the position of the stop line from the image information captured by the camera 30 when the own vehicle is away from the stop line. However, since the estimated position of the stop line contains a lot of errors, it is difficult to stop the own vehicle immediately before the stop line. Therefore, for example, if the merging traffic light 108 is a sensitive traffic light that displays a green light when the traffic light is at the stop line position, the traffic light stops so much that the traffic light sensor cannot detect the own vehicle. It may stop off the line. In such a case, as described above, the own vehicle is gradually forward-controlled, so that the sensor of the traffic light can detect the own vehicle.

In step S36, the action plan creation unit 60 creates an action plan so that stop control is performed on the own vehicle, and returns to step S32. In the stop control, the own vehicle is controlled by the traveling control unit 84 so that the own vehicle continues to stop.

In step S37 after it is determined in step S31 that the own vehicle is not stopped at the stop line, the action plan creation unit 60 has a stop line in front of the own vehicle based on the information from the external world state recognition unit 82. Determine if it exists. If there is a stop line in front of the own vehicle, the process proceeds to step S38, and if there is no stop line in front of the own vehicle, the process proceeds to step S39.

In step S38, the action plan creation unit 60 creates an action plan so that stop control is performed on the own vehicle, and returns to step S31. In the stop control, the own vehicle is controlled by the traveling control unit 84 so that the own vehicle stops immediately before the stop line.

In step S39, the action plan creation unit 60 determines whether or not there is a preceding vehicle in front of the own vehicle based on the information from the external world state recognition unit 82. If there is a preceding vehicle in front of the own vehicle, the process proceeds to step S40, and if there is no preceding vehicle in front of the own vehicle, the process proceeds to step S41.

In step S40, the action plan creation unit 60 creates an action plan so that the preceding vehicle follow-up control is performed on the own vehicle, and returns to step S31. In the preceding vehicle follow-up control, the traveling control unit 84 sets the inter-vehicle distance between the own vehicle and the preceding vehicle to be the inter-vehicle distance according to the vehicle speed so that the own vehicle follows the preceding vehicle and travels. The vehicle is controlled. At this time, when the preceding vehicle accelerates in front of the merging signal 108, the own vehicle is controlled so that the acceleration is suppressed to be less than the predetermined acceleration.

In step S41, the action plan creation unit 60 creates an action plan so that the lane keeping control is performed on the own vehicle, and returns to step S31. In the lane keeping control, the own vehicle is controlled by the traveling control unit 84 so that the own vehicle keeps the own lane and travels.

In the above-mentioned merging support control, when the traffic volume in the adjacent lane is less than the traffic volume in the own lane, the travel control unit 84 controls the own vehicle so that the own vehicle changes lanes to the adjacent lane. You may do so.

Further, in the above, the green light is a signal indicating that the vehicle can proceed, and the red light is a signal indicating that the vehicle must stop. Further, the signal is not limited to the green signal and the red signal, and the signal may be displayed by a figure or a character.

[Action effect]
In the conventional vehicle control device that performs merging support control, merging support control at the merging point where the merging signal 108 is installed has not been assumed. Further, the merging signal 108 is composed of a distant signal 108a and a near signal 108b (FIG. 2), and depending on the distance between the own vehicle and the merging signal 108, the merging signal 108a and the near signal 108b It was necessary to change the traffic light that should be noted in.

Therefore, in the present embodiment, when there are a plurality of recognition traffic lights set as traffic lights for traffic in the own lane, and two of the plurality of recognition traffic lights are close to each other, the proximity traffic light is used. The setting unit 74 sets the two traffic lights as proximity traffic lights. As a result, a traffic light composed of a distant traffic light 108a and a near traffic light 108b, such as a merging traffic light 108, can be set as a proximity traffic light, and can be distinguished from a traffic light set at an intersection or the like. it can.

Further, in the present embodiment, the travel control unit 84 selects one of the front camera 36 and the front side camera 38 according to the distance between the own vehicle and the merging signal 108, and the merging detected by the selected camera 30. The merging support control of the own vehicle is performed according to the signal displayed by the traffic light 108. As a result, the travel control unit 84 can perform merging support control of the own vehicle based on the image information of the camera 30 having high detection accuracy for the signal displayed by the merging signal 108.

Further, in the present embodiment, the traffic light recognition unit 68 distinguishes between a traffic light that displays a signal for traffic in its own lane and the traffic light that displays a signal for traffic in the adjacent lane when there is an adjacent lane. Then, the traffic light that displays a signal for the traffic in the own lane is recognized as a recognition traffic light. As a result, the travel control unit 84 can perform merging support control of the own vehicle based on the signal displayed by the traffic light that displays the signal for the traffic in the own lane.

Further, in the present embodiment, the merging point recognition unit 78 recognizes that the merging point is in front of the own vehicle when the time for the adjacent traffic light to display the green light is less than the predetermined time T1. Alternatively, the merging point recognition unit 78 recognizes that there is a merging point in front of the own vehicle when there is no oncoming vehicle in front of the own vehicle and the own lane in front of the own vehicle is curved. Then, when there is a merging point in front of the own vehicle, the proximity signal setting unit 74 sets the proximity signal to the merging signal 108. As a result, the merging point recognition unit 78 can recognize the merging point from an external situation even when the merging point information cannot be obtained from the map information or the like.

Further, in the present embodiment, the attention signal setting unit 80 sets at least one of the plurality of proximity signals as a noteworthy signal in the own vehicle depending on the positional relationship between the own vehicle and the proximity signal. .. The travel control unit 84 performs merging support control of the own vehicle according to the signal displayed by the set attention signal. As a result, the vehicle control device 10 of the present embodiment sets the attention signal according to the positional relationship between the own vehicle and the merging signal 108, so that the merging support control corresponding to the merging point where the merging signal 108 is installed. Can be carried out.

Further, in the present embodiment, the attention signal setting unit 80 determines the positional relationship between the own vehicle and the proximity signal, the distance between the own vehicle and the merging signal 108, or an accessory installed together with the own vehicle and the merging signal 108. It is set according to the distance from the vehicle or the shape of the display unit 110 of the merging signal 108. As a result, of the two proximity traffic lights, the proximity traffic light that makes it easy to discriminate the signal display from the own vehicle can be set as the attention signal.

Further, in the present embodiment, when the preceding vehicle in front of the own vehicle accelerates, the traveling control unit 84 limits the acceleration of the own vehicle until the own vehicle crosses the stop line. It is considered that the state in which the preceding vehicle is accelerated is a case where the display of the merging traffic light 108 becomes a green light and the preceding vehicle starts. Since the display of the merging traffic light 108 immediately turns red, it is possible to prevent the own vehicle from suddenly braking or crossing the stop line by limiting the acceleration of the own vehicle.

Further, the shape condition of the present embodiment, when the display of the target traffic lights red state has continued for the predetermined time T3 or more, the cruise control unit 84 repeats the gradual advancement control of the vehicle. When the merging traffic light 108 is a sensitive traffic light, the own vehicle can be made to detect the own vehicle by the sensor of the traffic light by the gradual forward control of the own vehicle.

Claims (14)

A vehicle control device (10) that automatically controls the running of the own vehicle at least partially.
A plurality of traffic light detection units (30, 36, 38) that are installed so as to have different detection directions with respect to the own vehicle and detect a traffic light, and
A traffic light recognition unit (68) that recognizes a traffic light that displays a signal for traffic in the own lane in which the own vehicle is traveling, and a traffic light recognition unit (68).
When there are a plurality of recognition signals recognized by the traffic light recognition unit (68), the difference between the distance of one recognition signal to the own vehicle and the distance of the other recognition signal to the own vehicle is When it is less than the first predetermined distance (L1), or when the distance of the other recognition signal to one of the recognition signals is less than the second predetermined distance (L2), one of the recognition signals and the other recognition are recognized. Proximity signal setting unit (74) that sets the signal as a proximity signal, and
An attention signal setting unit (80) that sets at least one of the plurality of proximity signals as a attention signal in the own vehicle depending on the positional relationship between the own vehicle and the proximity signal.
A support control unit (84) that controls acceleration / deceleration of the own vehicle at least in response to the signal displayed by the attention signal.
Have a,
The support control unit (84) selects the signal detection unit (30, 36, 38) according to the distance between the own vehicle and the proximity signal, and the selected signal detection unit (30, 36, 38, A vehicle control device (10) characterized in that at least acceleration / deceleration control of the own vehicle is performed in response to the signal displayed by the attention signal detected by 38). The vehicle control device (10) according to claim 1.
The attention signal setting unit (80) sets the positional relationship between the own vehicle and the proximity signal as the distance between the own vehicle and the proximity signal, or an accessory installed together with the own vehicle and the proximity signal. The vehicle control device (10), which is set according to the distance of the vehicle or the shape of the display unit of the proximity signal. The vehicle control device (10) according to claim 1 or 2.
It has an adjacent lane determination unit (72) that determines the presence or absence of an adjacent lane by detecting an adjacent lane adjacent to the own lane or detecting an adjacent vehicle traveling in the same direction adjacent to the own vehicle. ,
The traffic light recognition unit (68) distinguishes between the traffic light that displays a signal for traffic in its own lane and the traffic light that displays a signal for traffic in the adjacent lane when there is an adjacent lane. A vehicle control device (10), characterized in that the traffic light displaying a signal for traffic in the own lane is recognized as the recognition traffic light. The vehicle control device (10) according to any one of claims 1 to 3.
When the preceding vehicle of the own vehicle accelerates, the support control unit (84) limits the acceleration of the own vehicle until the own vehicle crosses the stop line corresponding to the recognition signal. Vehicle control device (10). The vehicle control device (10) according to any one of claims 1 to 4.
The support control unit (84) outputs a signal indicating that the traffic light of the recognition traffic light must be stopped when the own vehicle is stopped at a position before the stop line corresponding to the recognition traffic light. (1) When the display is continued for a predetermined time (T3) or more, the own vehicle is controlled to repeat running and stopping so that the own vehicle approaches the stop line corresponding to the recognition signal. Vehicle control device (10). The vehicle control device (10) according to any one of claims 1 to 5.
When the time for displaying the signal indicating that the recognition signal can proceed is less than the second predetermined time (T1), the position of the own vehicle merges from the side road (102) to the main line (104). It has a merging point recognition unit (78) that recognizes that it is a merging point, and has a merging point recognition unit (78).
When the position of the own vehicle is the merging point, the proximity signal setting unit (74) uses the proximity signal as a merging signal (108) for displaying a signal for arranging traffic at the merging point. Set,
The vehicle control device (10) is characterized in that the attention signal setting unit (80) sets at least one of the plurality of merged signals (108) as a noteworthy signal in the own vehicle. The vehicle control device (10) according to any one of claims 1 to 5.
When there is no oncoming vehicle and the own lane is curved, the merging point recognition unit recognizes that the position of the own vehicle is the merging point where the side road (102) joins the main lane (104). 78)
When the position of the own vehicle is the merging point, the proximity signal setting unit (74) uses the proximity signal as a merging signal (108) for displaying a signal for arranging traffic at the merging point. Set,
The vehicle control device (10) is characterized in that the attention signal setting unit (80) sets at least one of the plurality of merged signals (108) as a noteworthy signal in the own vehicle. It is a vehicle control method that automatically controls the running of the own vehicle at least partially.
A traffic light recognition step that recognizes a traffic light that displays a signal for traffic in the own lane in which the own vehicle is traveling, and
When there are a plurality of recognition signals recognized by the signal recognition step, the difference between the distance of one recognition signal to the own vehicle and the distance of the other recognition signal to the own vehicle is the first predetermined. When the distance (L1) is less than, or when the distance of the other recognition signal to one of the recognition signals is less than the second predetermined distance (L2), the one recognition signal and the other recognition signal are brought close to each other. Proximity signal setting step to set to the signal and
A attention signal setting step of setting at least one of the plurality of proximity signals as a attention signal in the own vehicle according to the positional relationship between the own vehicle and the proximity signal.
A support control step that controls acceleration / deceleration of the own vehicle at least according to the signal displayed by the attention signal.
Have a,
The own vehicle has a plurality of traffic light detection units (30, 36, 38) for detecting the traffic light so that the detection directions with respect to the own vehicle are different from each other.
In the support control step, the signal detection unit (30, 36, 38) is selected according to the distance between the own vehicle and the proximity signal, and the selected signal detection unit (30, 36, 38) causes the selected signal detection unit (30, 36, 38). A vehicle control method characterized in that at least acceleration / deceleration control of the own vehicle is performed according to the signal displayed by the detected signal of interest. The vehicle control method according to claim 8.
The attention signal setting step sets the positional relationship between the own vehicle and the proximity signal as the distance between the own vehicle and the proximity signal, or the distance between the own vehicle and the accessory installed together with the proximity signal. Alternatively, a vehicle control method characterized in that the setting is made according to the shape of the display unit of the proximity signal. The vehicle control method according to claim 8 or 9.
It has an adjacent lane determination step for determining the presence or absence of an adjacent lane by detecting an adjacent lane adjacent to the own lane or detecting an adjacent vehicle traveling in the same direction adjacent to the own vehicle.
The traffic light recognition step distinguishes between the traffic light that displays a signal for traffic in the own lane and the traffic light that displays a signal for traffic in the adjacent lane when there is an adjacent lane. A vehicle control method comprising recognizing the traffic light that displays a signal for traffic in a lane as the recognition traffic light. The vehicle control method according to any one of claims 8 to 10.
The support control step is characterized in that, when the preceding vehicle of the own vehicle accelerates, the acceleration of the own vehicle is limited until the own vehicle crosses the stop line corresponding to the recognition signal. Control method. The vehicle control method according to any one of claims 8 to 11.
In the support control step, when the own vehicle is stopped at a position before the stop line corresponding to the recognition signal, the signal indicating that the signal of the recognition signal must be stopped is sent for a first predetermined time. (T3) A vehicle control method characterized in that when the display continues to be displayed, the own vehicle is controlled to repeatedly run and stop so that the own vehicle approaches the stop line corresponding to the recognition signal. .. The vehicle control method according to any one of claims 8 to 12.
When the time for displaying the signal indicating that the recognition signal can proceed is less than the second predetermined time (T1), the position of the own vehicle merges from the side road (102) to the main line (104). It has a confluence recognition step that recognizes it as a confluence,
In the proximity signal setting step, when the position of the own vehicle is the confluence point, the proximity signal is set as a confluence signal (108) for displaying a signal for arranging traffic at the confluence point.
The vehicle control method, wherein the attention signal setting step sets at least one of the plurality of merging signals (108) as a attention signal in the own vehicle. The vehicle control method according to any one of claims 8 to 12.
When there is no oncoming vehicle and the own lane is curved, a merging point recognition step for recognizing the position of the own vehicle as a merging point from the frontage road (102) to the main lane (104) is performed. Have and
In the proximity signal setting step, when the position of the own vehicle is the confluence point, the proximity signal is set as a confluence signal (108) for displaying a signal for arranging traffic at the confluence point.
The vehicle control method, wherein the attention signal setting step sets at least one of the plurality of merging signals (108) as a attention signal in the own vehicle.

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